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<div class="title">convolution.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_CONVOLUTION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_CONVOLUTION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/point_operators.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/exceptions.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>filters</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>In, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Out&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html">   77</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_convolution.html">Convolution</a></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointIn&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOut&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; Convolution&lt;PointIn, PointOut&gt; &gt; Ptr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const Convolution&lt;PointIn, PointOut&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#ae9da4579c89dba3c56e860c8e6b96d9f">   89</a></span>&#160;        <span class="keyword">enum</span> <a class="code" href="classpcl_1_1filters_1_1_convolution.html#ae9da4579c89dba3c56e860c8e6b96d9f">BORDERS_POLICY</a></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          BORDERS_POLICY_IGNORE = -1,</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          BORDERS_POLICY_MIRROR = 0,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          BORDERS_POLICY_DUPLICATE = 1</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        };</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a14b0365f33721dae85cef7246bfcf539">Convolution</a> ();</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a10210b349ac1dec4fe217712980b588b">   98</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a10210b349ac1dec4fe217712980b588b">~Convolution</a> () {}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a16fbbdf38948fed054d2b8b6514ef42d">  104</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a16fbbdf38948fed054d2b8b6514ef42d">setInputCloud</a> (<span class="keyword">const</span> PointCloudInConstPtr&amp; cloud) { <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a6c55d5f4243573f3adcadf9a1de6e9c2">input_</a> = cloud; }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#acd355932b0334275e14ee26a248c15c4">  109</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#acd355932b0334275e14ee26a248c15c4">setKernel</a> (<span class="keyword">const</span> Eigen::ArrayXf&amp; <a class="code" href="classpcl_1_1kernel.html">kernel</a>) { <a class="code" href="classpcl_1_1filters_1_1_convolution.html#af07d32b376a199ce9ecd43a13aa426af">kernel_</a> = <a class="code" href="classpcl_1_1kernel.html">kernel</a>; }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#ac6c3cc194c0bf3a9e29b6748d3e0b5de">  112</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#ac6c3cc194c0bf3a9e29b6748d3e0b5de">setBordersPolicy</a> (<span class="keywordtype">int</span> policy) { <a class="code" href="classpcl_1_1filters_1_1_convolution.html#ad5f85f1f47f680e5c1bce9347c25d3b9">borders_policy_</a> = policy; }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a537d5529df268fd120351ff0e24d8244">  115</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a537d5529df268fd120351ff0e24d8244">getBordersPolicy</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_convolution.html#ad5f85f1f47f680e5c1bce9347c25d3b9">borders_policy_</a>); }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#aac0496f56b859fb46e39a52bf14ed853">  124</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#aac0496f56b859fb46e39a52bf14ed853">setDistanceThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>&amp; threshold) { <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a03efcc1b971c1aed960a2f599c879229">distance_threshold_</a> = threshold; }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a00cd1ceb0545dd8468fe0e6a37531180">  127</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a00cd1ceb0545dd8468fe0e6a37531180">getDistanceThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_convolution.html#a03efcc1b971c1aed960a2f599c879229">distance_threshold_</a>); }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a2836bdcb1bbc026eaa38d4378617de53">  132</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a2836bdcb1bbc026eaa38d4378617de53">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1filters_1_1_convolution.html#adec8e2fca1a93fab4b558ee2fc9418bd">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a8700c664ebc38288155d4c872c117c81">convolveRows</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a12ad33ee524c323fb108142c2736957f">convolveCols</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#aa517e36975cab3ef6dc048552449d1e2">convolve</a> (<span class="keyword">const</span> Eigen::ArrayXf&amp; h_kernel, <span class="keyword">const</span> Eigen::ArrayXf&amp; v_kernel, PointCloudOut&amp; output);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#aa517e36975cab3ef6dc048552449d1e2">convolve</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#aa0d05344455a5a9595515b02d5669cd9">convolve_rows</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a90a14cfd2090f0defaee6a0b261ef697">convolve_cols</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a2ef019b0be2516b7935827732936bc96">convolve_rows_mirror</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a99fecb92edac3c7a6f7d3a1c03c5223f">convolve_cols_mirror</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a800c77925077f233061f5c409cb9cf21">convolve_rows_duplicate</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a5e21016ab2b2fe7ed370834a162c7b40">convolve_cols_duplicate</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#ac6ea4184e4763e573694d01cdf047592">initCompute</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keyword">inline</span> PointOut</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a4b2e50f307ab6760e6593f7ac2ba7e0a">convolveOneRowDense</a> (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keyword">inline</span> PointOut</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a45c30c6f115a94ad6a26e57b5e21553b">convolveOneColDense</a> (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keyword">inline</span> PointOut</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a1fda861391f0b6ddfdacd9decdd43d55">convolveOneRowNonDense</a> (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keyword">inline</span> PointOut</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a60fa76f17ef128a0ed99be9d874d8aa6">convolveOneColNonDense</a> (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#ad5f85f1f47f680e5c1bce9347c25d3b9">  213</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_convolution.html#ad5f85f1f47f680e5c1bce9347c25d3b9">borders_policy_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a03efcc1b971c1aed960a2f599c879229">  215</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a03efcc1b971c1aed960a2f599c879229">distance_threshold_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a6c55d5f4243573f3adcadf9a1de6e9c2">  217</a></span>&#160;        PointCloudInConstPtr <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a6c55d5f4243573f3adcadf9a1de6e9c2">input_</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#af07d32b376a199ce9ecd43a13aa426af">  219</a></span>&#160;        Eigen::ArrayXf <a class="code" href="classpcl_1_1filters_1_1_convolution.html#af07d32b376a199ce9ecd43a13aa426af">kernel_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a56638bab177842b1927fd11a767ea487">  221</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a56638bab177842b1927fd11a767ea487">half_width_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#a283a901ea233fddc93f014dfe993c405">  223</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_convolution.html#a283a901ea233fddc93f014dfe993c405">kernel_width_</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution.html#adec8e2fca1a93fab4b558ee2fc9418bd">  226</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_convolution.html#adec8e2fca1a93fab4b558ee2fc9418bd">threads_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        makeInfinite (PointOut&amp; p)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          p.x = p.y = p.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }      </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    };</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;}</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/convolution.hpp&gt;</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html">pcl::filters::Convolution</a></div><div class="ttdef"><b>Definition:</b> convolution.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a00cd1ceb0545dd8468fe0e6a37531180"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a00cd1ceb0545dd8468fe0e6a37531180">pcl::filters::Convolution::getDistanceThreshold</a></div><div class="ttdeci">const float &amp; getDistanceThreshold() const</div><div class="ttdef"><b>Definition:</b> convolution.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a03efcc1b971c1aed960a2f599c879229"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a03efcc1b971c1aed960a2f599c879229">pcl::filters::Convolution::distance_threshold_</a></div><div class="ttdeci">float distance_threshold_</div><div class="ttdoc">Threshold distance between adjacent points</div><div class="ttdef"><b>Definition:</b> convolution.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a10210b349ac1dec4fe217712980b588b"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a10210b349ac1dec4fe217712980b588b">pcl::filters::Convolution::~Convolution</a></div><div class="ttdeci">~Convolution()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> convolution.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a12ad33ee524c323fb108142c2736957f"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a12ad33ee524c323fb108142c2736957f">pcl::filters::Convolution::convolveCols</a></div><div class="ttdeci">void convolveCols(PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:109</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a14b0365f33721dae85cef7246bfcf539"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a14b0365f33721dae85cef7246bfcf539">pcl::filters::Convolution::Convolution</a></div><div class="ttdeci">Convolution()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> convolution.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a16fbbdf38948fed054d2b8b6514ef42d"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a16fbbdf38948fed054d2b8b6514ef42d">pcl::filters::Convolution::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> convolution.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a1fda861391f0b6ddfdacd9decdd43d55"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a1fda861391f0b6ddfdacd9decdd43d55">pcl::filters::Convolution::convolveOneRowNonDense</a></div><div class="ttdeci">PointOut convolveOneRowNonDense(int i, int j)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:187</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a2836bdcb1bbc026eaa38d4378617de53"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a2836bdcb1bbc026eaa38d4378617de53">pcl::filters::Convolution::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> convolution.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a283a901ea233fddc93f014dfe993c405"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a283a901ea233fddc93f014dfe993c405">pcl::filters::Convolution::kernel_width_</a></div><div class="ttdeci">int kernel_width_</div><div class="ttdoc">kernel size - 1</div><div class="ttdef"><b>Definition:</b> convolution.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a2ef019b0be2516b7935827732936bc96"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a2ef019b0be2516b7935827732936bc96">pcl::filters::Convolution::convolve_rows_mirror</a></div><div class="ttdeci">void convolve_rows_mirror(PointCloudOut &amp;output)</div><div class="ttdoc">convolve rows and mirror borders</div><div class="ttdef"><b>Definition:</b> convolution.hpp:494</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a45c30c6f115a94ad6a26e57b5e21553b"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a45c30c6f115a94ad6a26e57b5e21553b">pcl::filters::Convolution::convolveOneColDense</a></div><div class="ttdeci">PointOut convolveOneColDense(int i, int j)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:177</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a4b2e50f307ab6760e6593f7ac2ba7e0a"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a4b2e50f307ab6760e6593f7ac2ba7e0a">pcl::filters::Convolution::convolveOneRowDense</a></div><div class="ttdeci">PointOut convolveOneRowDense(int i, int j)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:167</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a537d5529df268fd120351ff0e24d8244"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a537d5529df268fd120351ff0e24d8244">pcl::filters::Convolution::getBordersPolicy</a></div><div class="ttdeci">int getBordersPolicy()</div><div class="ttdoc">Get the borders policy</div><div class="ttdef"><b>Definition:</b> convolution.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a56638bab177842b1927fd11a767ea487"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a56638bab177842b1927fd11a767ea487">pcl::filters::Convolution::half_width_</a></div><div class="ttdeci">int half_width_</div><div class="ttdoc">half kernel size</div><div class="ttdef"><b>Definition:</b> convolution.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a5e21016ab2b2fe7ed370834a162c7b40"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a5e21016ab2b2fe7ed370834a162c7b40">pcl::filters::Convolution::convolve_cols_duplicate</a></div><div class="ttdeci">void convolve_cols_duplicate(PointCloudOut &amp;output)</div><div class="ttdoc">convolve cols and duplicate borders</div><div class="ttdef"><b>Definition:</b> convolution.hpp:583</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a60fa76f17ef128a0ed99be9d874d8aa6"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a60fa76f17ef128a0ed99be9d874d8aa6">pcl::filters::Convolution::convolveOneColNonDense</a></div><div class="ttdeci">PointOut convolveOneColNonDense(int i, int j)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:213</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a6c55d5f4243573f3adcadf9a1de6e9c2"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a6c55d5f4243573f3adcadf9a1de6e9c2">pcl::filters::Convolution::input_</a></div><div class="ttdeci">PointCloudInConstPtr input_</div><div class="ttdoc">Pointer to the input cloud</div><div class="ttdef"><b>Definition:</b> convolution.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a800c77925077f233061f5c409cb9cf21"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a800c77925077f233061f5c409cb9cf21">pcl::filters::Convolution::convolve_rows_duplicate</a></div><div class="ttdeci">void convolve_rows_duplicate(PointCloudOut &amp;output)</div><div class="ttdoc">convolve rows and duplicate borders</div><div class="ttdef"><b>Definition:</b> convolution.hpp:449</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a8700c664ebc38288155d4c872c117c81"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a8700c664ebc38288155d4c872c117c81">pcl::filters::Convolution::convolveRows</a></div><div class="ttdeci">void convolveRows(PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:89</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a90a14cfd2090f0defaee6a0b261ef697"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a90a14cfd2090f0defaee6a0b261ef697">pcl::filters::Convolution::convolve_cols</a></div><div class="ttdeci">void convolve_cols(PointCloudOut &amp;output)</div><div class="ttdoc">convolve cols and ignore borders</div><div class="ttdef"><b>Definition:</b> convolution.hpp:539</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a99fecb92edac3c7a6f7d3a1c03c5223f"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a99fecb92edac3c7a6f7d3a1c03c5223f">pcl::filters::Convolution::convolve_cols_mirror</a></div><div class="ttdeci">void convolve_cols_mirror(PointCloudOut &amp;output)</div><div class="ttdoc">convolve cols and mirror borders</div><div class="ttdef"><b>Definition:</b> convolution.hpp:628</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_aa0d05344455a5a9595515b02d5669cd9"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#aa0d05344455a5a9595515b02d5669cd9">pcl::filters::Convolution::convolve_rows</a></div><div class="ttdeci">void convolve_rows(PointCloudOut &amp;output)</div><div class="ttdoc">convolve rows and ignore borders</div><div class="ttdef"><b>Definition:</b> convolution.hpp:405</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_aa517e36975cab3ef6dc048552449d1e2"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#aa517e36975cab3ef6dc048552449d1e2">pcl::filters::Convolution::convolve</a></div><div class="ttdeci">void convolve(const Eigen::ArrayXf &amp;h_kernel, const Eigen::ArrayXf &amp;v_kernel, PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:129</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_aac0496f56b859fb46e39a52bf14ed853"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#aac0496f56b859fb46e39a52bf14ed853">pcl::filters::Convolution::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(const float &amp;threshold)</div><div class="ttdef"><b>Definition:</b> convolution.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_ac6c3cc194c0bf3a9e29b6748d3e0b5de"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#ac6c3cc194c0bf3a9e29b6748d3e0b5de">pcl::filters::Convolution::setBordersPolicy</a></div><div class="ttdeci">void setBordersPolicy(int policy)</div><div class="ttdoc">Set the borders policy</div><div class="ttdef"><b>Definition:</b> convolution.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_ac6ea4184e4763e573694d01cdf047592"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#ac6ea4184e4763e573694d01cdf047592">pcl::filters::Convolution::initCompute</a></div><div class="ttdeci">void initCompute(PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_acd355932b0334275e14ee26a248c15c4"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#acd355932b0334275e14ee26a248c15c4">pcl::filters::Convolution::setKernel</a></div><div class="ttdeci">void setKernel(const Eigen::ArrayXf &amp;kernel)</div><div class="ttdef"><b>Definition:</b> convolution.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_ad5f85f1f47f680e5c1bce9347c25d3b9"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#ad5f85f1f47f680e5c1bce9347c25d3b9">pcl::filters::Convolution::borders_policy_</a></div><div class="ttdeci">int borders_policy_</div><div class="ttdoc">Border policy</div><div class="ttdef"><b>Definition:</b> convolution.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_adec8e2fca1a93fab4b558ee2fc9418bd"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#adec8e2fca1a93fab4b558ee2fc9418bd">pcl::filters::Convolution::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads the scheduler should use.</div><div class="ttdef"><b>Definition:</b> convolution.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_ae9da4579c89dba3c56e860c8e6b96d9f"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#ae9da4579c89dba3c56e860c8e6b96d9f">pcl::filters::Convolution::BORDERS_POLICY</a></div><div class="ttdeci">BORDERS_POLICY</div><div class="ttdoc">The borders policy available</div><div class="ttdef"><b>Definition:</b> convolution.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_af07d32b376a199ce9ecd43a13aa426af"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#af07d32b376a199ce9ecd43a13aa426af">pcl::filters::Convolution::kernel_</a></div><div class="ttdeci">Eigen::ArrayXf kernel_</div><div class="ttdoc">convolution kernel</div><div class="ttdef"><b>Definition:</b> convolution.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> kernel.h:46</div></div>
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